/*
 * File:         CR1.cpp
 * Date:         2011 03 29
 * Description:  Controller for Robot type 1
 * Author:       Gonzalo R. Canosa
 *
 *
 */
#include <math.h>
#include <stdio.h>
#include <sstream>
#include <iostream>
#include <string>
#include <cstring>

#include <webots/Robot.hpp>
#include <webots/DifferentialWheels.hpp>


#include <ros/ros.h>


#include "RosWebotsInterfaces/RWLaserServo.h"
#include "RosWebotsInterfaces/RWRangeCamera.h"
#include "RosWebotsInterfaces/RWKinect.h"
#include "RosWebotsInterfaces/RWGPS.h"
#include "RosWebotsInterfaces/RWCamera.h"
#include "RosWebotsInterfaces/RWPiooneerDistSensors.h"
#include "RobJointPublisher/RobotJointPub.h"

using namespace std;
using namespace webots;


#include <sensor_msgs/PointCloud2.h>

class ConR : public DifferentialWheels {
public:
  ConR();
  void run();
protected:

  double time_step;
  ros::NodeHandle n;

  RWLaserServo RWL;
  RWRangeCamera RWRangeCam;
  RWKinect RWKinectCam;
  RWCamera RWCam;
  RWPioDistSens RWPio;
 // RWJointPub RWJoint;
};
